Motion Dynamics

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Setup in aico.assist

• Control:Assist:DYNAMIC MODEL(Axis)
• Control:Assist:DYNAMIC MODEL(Group)

• Control:Assist:DYNAMIC PARAMETER xx(Axis)
• Control:Assist:DYNAMIC PARAMETER xx(Group)

• Control:Assist:PAYLOAD INERTIA(MotionDevice)
• Control:Assist:PAYLOAD MASS(MotionDevice)

• Control:Assist:VISCOUS FRICTION(Axis)
• Control:Assist:COULOMB FRICTION(Axis)

Payload in Applications

• Axystems:MC-Basic:axis.PAYLOADMASS
• Axystems:MC-Basic:axis.PAYLOADINERTIA

Torque Error Monitoring

• Axystems:MC-Basic:axis.TORQUEADDCOMMAND
• Axystems:MC-Basic:axis.TORQUEERROR
• Axystems:MC-Basic:axis.TORQUEERRORDISABLETYPE
• Axystems:MC-Basic:axis.TORQUEERRORENABLE
• Axystems:MC-Basic:axis.TORQUEERRORFILTER
• Axystems:MC-Basic:axis.TORQUEERRORMAX
• Axystems:MC-Basic:axis.TORQUEERRORSTOPTYPE
• Axystems:MC-Basic:axis.TORQUEFEEDBACK

Model Parameters Identification

Parameter identification is currently under active development. It will probably be available in early 2012.